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get the yaw angle between two frames

asked 2015-05-02 00:33:54 -0500

crazymumu gravatar image

updated 2015-05-02 00:39:36 -0500

I have two frames, one is global frame, another is UAV frame. And i also have the transform between them.

how to get the yaw angle between global frame to UAV frame , So i can know the angle between global frame x_axis and UAV framex_axis.

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answered 2015-05-02 04:37:10 -0500

bvbdort gravatar image

updated 2015-05-02 04:38:23 -0500

You can find it using rotation matrix.

get rotation matrix from transform. Each column in matrix represent unit vector along new axis. First column represent unit vector of along new x-axis.

if m0, m1, m2 are elements of first column, angle between old and new x-axis is

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thanks, it's right

crazymumu gravatar image crazymumu  ( 2015-05-02 11:21:54 -0500 )edit

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Asked: 2015-05-02 00:33:54 -0500

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Last updated: May 02 '15